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TECHNICAL PAPERS

Design and Singularity Analysis of a 3-Translational-DOF In-Parallel Manipulator*

[+] Author and Article Information
L. Romdhane, Z. Affi

Laboratoire de Génie Mécanique, D. G. M., Ecole Nationale d’Ingénieurs de Monastir, Tunisia  

M. Fayet

Laboratoire de Mécanique des Solides, Equipe de mécanique générale GMC, INSA de Lyon, Francee-mail: michel.fayet@insa-lyon.fr

J. Mech. Des 124(3), 419-426 (Aug 06, 2002) (8 pages) doi:10.1115/1.1480815 History: Received June 01, 2000; Online August 06, 2002
Copyright © 2002 by ASME
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References

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Figures

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Architecture of the passive kinematic chain
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Architecture of the passive kinematics chain
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A general parallel mechanism structure
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Construction of the three centers M1,M2,M3
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Hybrid serial-parallel manipulator 6
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Solid model of the 3-translational DOF manipulator
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A wire frame of the 3-translational DOF manipulator
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3D solid model of the platform
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The deformed shape of the platform
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A solid model of the modified design with no over constraint
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The deformed shape of the modified design
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Case 1: the three centers are collinear
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Case 2: Two of the centers are coincident
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Case 3: the three centers are coincident
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Case 4: Point M is coplanar with the three centers

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